MIT CSAIL: ICP-Based Incremental Registration using Sparse Point Maps

(Author information and Acknowledgments temp. removed!)
Simultaneous Localization and Mapping (SLAM) using an incremental approach based on range image registration with a variant of the Iterative Closest Point (ICP) algorithm by Besl and McKay. The resulting sparse point map models the 3rd floor of the MIT CSAIL building. The data set was recorded by Cyrill Stachniss (University of Freiburg).